EP3183093B1 - Multi-axis machine tool and methods of controlling the same - Google Patents

Multi-axis machine tool and methods of controlling the same Download PDF

Info

Publication number
EP3183093B1
EP3183093B1 EP16815140.5A EP16815140A EP3183093B1 EP 3183093 B1 EP3183093 B1 EP 3183093B1 EP 16815140 A EP16815140 A EP 16815140A EP 3183093 B1 EP3183093 B1 EP 3183093B1
Authority
EP
European Patent Office
Prior art keywords
axis
actuator
command
linear actuator
tool
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP16815140.5A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3183093A1 (en
EP3183093A4 (en
Inventor
Guang Lu
Mehmet Alpay
Mike Tyler
Qian Xu
Jan Kleinert
Zhibin Lin
Jim BROOKHYSER
Ho Wai Lo
Kurt M. EATON
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Electro Scientific Industries Inc
Original Assignee
Electro Scientific Industries Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Electro Scientific Industries Inc filed Critical Electro Scientific Industries Inc
Publication of EP3183093A1 publication Critical patent/EP3183093A1/en
Publication of EP3183093A4 publication Critical patent/EP3183093A4/en
Application granted granted Critical
Publication of EP3183093B1 publication Critical patent/EP3183093B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
    • B23Q15/14—Control or regulation of the orientation of the tool with respect to the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B23Q1/30—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members controlled in conjunction with the feed mechanism
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
    • B23Q5/54—Arrangements or details not restricted to group B23Q5/02 or group B23Q5/22 respectively, e.g. control handles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G05B19/21—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device
    • G05B19/23—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control
    • G05B19/231—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude
    • G05B19/234—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path using an incremental digital measuring device for point-to-point control the positional error is used to control continuously the servomotor according to its magnitude with current or torque feedback only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34015—Axis controller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41196—Adaptive prefiltering
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41217—Command preshape, guidance, reference for better dynamic response, forcing feedforward
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41427—Feedforward of position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50218—Synchronize groups of axis, spindles
EP16815140.5A 2015-06-22 2016-06-21 Multi-axis machine tool and methods of controlling the same Active EP3183093B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562183009P 2015-06-22 2015-06-22
US201662281967P 2016-01-22 2016-01-22
PCT/US2016/038535 WO2016209818A1 (en) 2015-06-22 2016-06-21 Multi-axis machine tool and methods of controlling the same

Publications (3)

Publication Number Publication Date
EP3183093A1 EP3183093A1 (en) 2017-06-28
EP3183093A4 EP3183093A4 (en) 2018-11-07
EP3183093B1 true EP3183093B1 (en) 2020-08-05

Family

ID=57586299

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16815140.5A Active EP3183093B1 (en) 2015-06-22 2016-06-21 Multi-axis machine tool and methods of controlling the same

Country Status (8)

Country Link
US (3) US9981357B2 (zh)
EP (1) EP3183093B1 (zh)
JP (3) JP6847865B2 (zh)
KR (1) KR102540188B1 (zh)
CN (2) CN110039329B (zh)
SG (2) SG10201804397UA (zh)
TW (2) TWI745122B (zh)
WO (1) WO2016209818A1 (zh)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6847865B2 (ja) * 2015-06-22 2021-03-24 エレクトロ サイエンティフィック インダストリーズ インコーポレーテッド 多軸工作機械及びこれを制御する方法
JP6487413B2 (ja) * 2016-12-22 2019-03-20 ファナック株式会社 レーザ加工用ヘッドおよびそれを備えたレーザ加工システム
CN110573292A (zh) * 2017-05-05 2019-12-13 伊雷克托科学工业股份有限公司 多轴工具、其控制方法和相关布置
US10998286B1 (en) * 2018-02-08 2021-05-04 Facebook Technologies, Llc Laser-induced selective heating for microLED placement and bonding
CN108770180A (zh) * 2018-06-27 2018-11-06 中国原子能科学研究院 加速器的剥离靶运动控制系统及其控制方法
CN109240216B (zh) * 2018-08-27 2021-08-10 天津鼎成高新技术产业有限公司 并联伺服系统的动态过程控制方法及信息数据处理终端
US11529721B2 (en) 2019-09-17 2022-12-20 Samsung Electronics Co., Ltd. Wrench device, and a method of automatically adjusting torque for a fastener of a piece of equipment
KR20210052090A (ko) * 2019-10-31 2021-05-10 삼성전자주식회사 증강 현실 장치
US20210341420A1 (en) * 2020-04-30 2021-11-04 Promega Corporation Laser illumination techniques for capillary electrophoresis
CN116157218A (zh) * 2020-07-21 2023-05-23 通快激光与系统工程有限公司 用于由粉末材料来增材制造构件的制造装置、用于改变能量束的射束分布的方法、以及至少一个声光偏转器的应用
EP4185427A1 (de) * 2020-07-21 2023-05-31 Trumpf Laser- und Systemtechnik GmbH Verfahren zum verlagern eines kontinuierlichen energiestrahls und fertigungseinrichtung
EP4032716A1 (en) * 2021-01-20 2022-07-27 IAI Industrial systems B.V. Positioning device for cards
DE102021104367A1 (de) 2021-02-24 2022-08-25 Bundesdruckerei Gmbh Verfahren und Vorrichtung zum Einbringen eines gelaserten Sicherheitsmerkmals
TWI760209B (zh) * 2021-05-05 2022-04-01 大陸商冠捷電子科技（福建）有限公司 雙軌道雷射雕刻機
CN113681309B (zh) * 2021-09-17 2024-03-12 洛阳海凝机器人科技有限公司 一种移动铣床系统及孔系加工方法

Family Cites Families (110)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2241850C3 (de) 1972-08-25 1978-06-29 European Rotogravure Association, 8000 Muenchen Verfahren zur Herstellung von Druckformen mittels eines Energiestrahles
US5129044A (en) 1988-03-01 1992-07-07 Hitachi Construction Machinery Co., Ltd. Position/force controlling apparatus for working machine with multiple of degrees of freedom
JPH06104293B2 (ja) * 1989-01-30 1994-12-21 豊田工機株式会社 非真円創成制御装置
US5109148A (en) 1990-01-26 1992-04-28 Mitsubishi Denki Kabushiki Kaisha Positioning device for a machining apparatus
DE59106878D1 (de) 1990-03-30 1995-12-21 Siemens Ag Verfahren zur Steuerung von Positioniersystemen.
JPH04100689A (ja) 1990-08-14 1992-04-02 Tsubakimoto Chain Co レーザ加工機用５軸テーブル
AU665000B2 (en) 1991-06-04 1995-12-14 Anca Pty Ltd Improved control of CNC machine tools
DE4123323C2 (de) 1991-07-13 1994-02-10 Andreas Ehlerding Werkzeugträger
JP2798530B2 (ja) 1991-07-26 1998-09-17 三菱電機株式会社 レーザ加工機
US5223692A (en) 1991-09-23 1993-06-29 General Electric Company Method and apparatus for laser trepanning
JPH05209731A (ja) 1992-01-31 1993-08-20 Fanuc Ltd レーザロボットの光軸調整方法
US5340962A (en) 1992-08-14 1994-08-23 Lumonics Corporation Automatic control of laser beam tool positioning
JPH08400B2 (ja) * 1993-11-04 1996-01-10 リックス株式会社 ノズルの揺動位置決め装置
EP0883277A3 (en) 1993-12-03 1999-08-18 Keyence Corporation Scan type laser marking device
US5638267A (en) 1994-06-15 1997-06-10 Convolve, Inc. Method and apparatus for minimizing unwanted dynamics in a physical system
JPH0887328A (ja) * 1994-09-14 1996-04-02 Res Dev Corp Of Japan 光操作方法
US5751585A (en) * 1995-03-20 1998-05-12 Electro Scientific Industries, Inc. High speed, high accuracy multi-stage tool positioning system
US5847960A (en) * 1995-03-20 1998-12-08 Electro Scientific Industries, Inc. Multi-tool positioning system
DE69600131T2 (de) 1995-04-19 1998-07-23 Gerber Garment Technology Inc Laserschneidgerät und Verfahren zum Schneiden von Flachmaterial
DE19545083A1 (de) * 1995-12-04 1997-06-05 Grundig Emv Verfahren zur Steuerung einer mehrachsigen Werkzeugmaschine
KR100443549B1 (ko) * 1996-03-12 2004-10-28 일렉트로 싸이언티픽 인더스트리이즈 인코포레이티드 다-공구위치선정시스템
US5988411A (en) 1996-04-05 1999-11-23 Convolve, Inc. Method and apparatus for reduced vibration of human operated machines
IL118850A0 (en) 1996-07-14 1996-10-31 Orziv Ltd Device and method for laser marking
DE19641494A1 (de) 1996-10-09 1998-04-23 Krauss Maffei Ag Maschine zur spanenden Bearbeitung von Werkstücken
JP3071758B2 (ja) 1998-05-20 2000-07-31 ヤマザキマザック株式会社 ３次元レーザ加工機及び３次元レーザ加工機における加工プログラムの作成制御方法
DE19853979A1 (de) 1998-11-23 2000-05-31 Fraunhofer Ges Forschung Vorrichtung und Verfahren zum Abtasten einer Objektfläche mit einem Laserstrahl, insbesondere zum selektiven Laser-Schmelzen
DE19910880A1 (de) 1999-03-11 2000-09-14 Deckel Maho Gmbh Werkzeugmaschine für die Werkstückbearbeitung mit spanenden Werkzeugen und Laserstrahl
US6362454B1 (en) 1999-10-01 2002-03-26 Matsushita Electric Industrial Co., Ltd. Method for drilling circular holes with a laser beam
US6469729B1 (en) 1999-10-15 2002-10-22 Videojet Technologies Inc. Laser marking device and method for marking arcuate surfaces
SE0001312D0 (sv) 2000-04-10 2000-04-10 Abb Ab Industrirobot
WO2001087532A1 (fr) 2000-05-19 2001-11-22 Mitsubishi Denki Kabushiki Kaisha Controleur pour machine a faisceau laser tridimensionnel
IT1320478B1 (it) 2000-06-30 2003-11-26 Franco Sartorio Macchina operatrice e dispositivo manipolatore installabile su talemacchina.
DE20101247U1 (de) 2001-01-24 2001-04-05 Sator Laser Gmbh Vorrichtung zum Beschriften oder Markieren von Gegenständen mittels Laserstrahl
US6528762B2 (en) * 2001-02-12 2003-03-04 W. A. Whitney Co. Laser beam position control apparatus for a CNC laser equipped machine tool
US6897405B2 (en) 2001-11-30 2005-05-24 Matsushita Electric Industrial Co., Ltd. Method of laser milling using constant tool path algorithm
JP4108968B2 (ja) * 2001-11-30 2008-06-25 ユニオンツール株式会社 転削工具の測定方法および装置
JP3607259B2 (ja) 2002-04-16 2005-01-05 ヤマザキマザック株式会社 ３次元線状加工装置
US6835912B2 (en) 2002-05-28 2004-12-28 Trumpf, Inc. Laser cutting machine with two Y-axis drives
DE10255037A1 (de) 2002-11-26 2004-06-09 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Bearbeiten eines Werkstücks
ITBO20030043A1 (it) * 2003-01-31 2004-08-01 Jobs Spa Testa porta utensili per macchine utensili pluri asse
US6706999B1 (en) 2003-02-24 2004-03-16 Electro Scientific Industries, Inc. Laser beam tertiary positioner apparatus and method
JP2005074568A (ja) 2003-09-01 2005-03-24 Mitsubishi Heavy Ind Ltd 多軸加工機、ワークの加工方法
DE10355614B4 (de) 2003-11-28 2006-11-23 Siemens Ag Einrichtung und Verfahren zur Bewegungsaufteilung einer Bewegung eines Maschinenteils entlang einer Antriebsachse einer Werkzeug- oder Produktionsmaschine
US6958762B2 (en) 2003-12-09 2005-10-25 Markem Corporation Filling an area of an image marked on a material with a laser
DE10359984B4 (de) 2003-12-19 2006-11-23 Siemens Ag Verfahren und Einrichtung zur Bewegungsführung eines bewegbaren Maschinenelements einer Werkzeug- oder Produktionsmaschine
ITBO20040217A1 (it) * 2004-04-16 2004-07-16 Jobs Spa Testa operatrice per macchine utensili pluriasse
ITBO20040218A1 (it) * 2004-04-16 2004-07-16 Jobs Spa Dispositivo aspirante per macchine utensili
US7266425B2 (en) 2004-09-30 2007-09-04 Rockwell Automation Technologies, Inc. Systems and methods that facilitate motion control through coordinate system transformations
JP4486476B2 (ja) 2004-10-29 2010-06-23 東京エレクトロン株式会社 レーザー処理装置及びレーザー処理方法
ITBO20050021A1 (it) * 2005-01-17 2006-07-18 Jobs Spa Macchina utensile pluriasse
PL1688807T3 (pl) 2005-02-04 2009-01-30 Trumpf Werkzeugmaschinen Gmbh Co Kg Sposób podziału ruchu względnego między przedmiotem obrabianym i narzędziem obrabiarki
US7792604B2 (en) 2005-03-23 2010-09-07 Hurco Companies, Inc. Method of performing additive lookahead for adaptive cutting feedrate control
JP4760830B2 (ja) * 2005-07-08 2011-08-31 三菱電機株式会社 レーザ加工装置およびレーザ加工方法
ITTO20050578A1 (it) * 2005-08-16 2007-02-17 Prima Ind Spa Procedimento di gestione di sistemi dotati di attuatori ridondanti
JP5013699B2 (ja) 2005-10-21 2012-08-29 株式会社キーエンス ３次元加工データ設定装置、３次元加工データ設定方法、３次元加工データ設定プログラム、コンピュータで読み取り可能な記録媒体及び記録した機器並びにレーザ加工装置
WO2007079778A1 (de) 2006-01-14 2007-07-19 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Verfahren zur achsregelung
TW200729673A (en) * 2006-01-27 2007-08-01 Min-Fu Xie Synchronized motion control system for dual parallel linear motors
US7348748B2 (en) * 2006-06-02 2008-03-25 Delta Tau Data Systems, Inc. Motorized system and method of control
ITBO20060500A1 (it) * 2006-06-29 2007-12-30 Jobs Spa Macchina utensile pluriasse.
JP4795886B2 (ja) 2006-07-27 2011-10-19 株式会社キーエンス レーザ加工装置、レーザ加工条件設定装置、レーザ加工条件設定方法、レーザ加工条件設定プログラム
US8024068B2 (en) 2006-08-04 2011-09-20 Hurco Companies, Inc. Machine tool control system
US8725283B2 (en) 2006-08-04 2014-05-13 Hurco Companies, Inc. Generalized kinematics system
US7933677B2 (en) 2006-08-04 2011-04-26 Hurco Companies, Inc. System and method for surface finish management
DE102007027503A1 (de) 2007-06-14 2009-01-08 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Verfahren zur optimierten Bewegungskoordination von Mess- oder Werkzeugmaschinen mit redundanten translatorisch wirksamen Achsen
DE102007028934A1 (de) 2007-06-22 2008-12-24 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Verfahren zur optimierten Bewegungskoordination von Mess-oder Werkzeugmaschinen mit redundanten translatorisch wirksamen Achsen
US7767932B2 (en) 2007-06-29 2010-08-03 Trumpf, Inc. High dynamics laser processing machine
JP4327894B2 (ja) 2007-11-30 2009-09-09 ファナック株式会社 ５軸加工機を制御する数値制御装置
JP4351281B2 (ja) 2007-12-13 2009-10-28 ファナック株式会社 ５軸加工機を制御する数値制御装置
US8378259B2 (en) * 2008-06-17 2013-02-19 Electro Scientific Industries, Inc. Eliminating head-to-head offsets along common chuck travel direction in multi-head laser machining systems
DE102008033709A1 (de) 2008-07-18 2010-01-21 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Verfahren zur Verlagerung der Bearbeitungsstelle eines Werkstücks und Werkzeugmaschine
CN101412324B (zh) * 2008-11-28 2011-06-22 华南理工大学 金属零件高速振镜式在线激光打码机
IT1393091B1 (it) * 2009-02-18 2012-04-11 Grassi Testa per la lavorazione continua di precisione su corpi tridimensionali e macchina di lavorazione che include detta testa
JP5293389B2 (ja) * 2009-05-07 2013-09-18 株式会社ジェイテクト 工作機械の制御装置
TWI523720B (zh) 2009-05-28 2016-03-01 伊雷克托科學工業股份有限公司 應用於雷射處理工件中的特徵的聲光偏轉器及相關雷射處理方法
DE102009029193A1 (de) 2009-09-04 2011-03-17 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Laserbearbeitungsmaschine mit redundanten Achsen
JP5199209B2 (ja) * 2009-09-28 2013-05-15 ファナック株式会社 テーブル旋回５軸加工機用数値制御装置
US8244386B2 (en) * 2009-10-08 2012-08-14 Hurco Companies, Inc. Machine tool system control having automatic safe repositioning
DE102009044316B4 (de) 2009-10-22 2015-04-30 Ewag Ag Verfahren zur Herstellung einer Fläche und/oder einer Kante an einem Rohling sowie Laserbearbeitungsvorrichtung zur Durchführung des Verfahrens
DE102010001781A1 (de) 2010-02-10 2011-08-11 Siemens Aktiengesellschaft, 80333 Verfahren zur Bewegung eines Maschinenelements einer Maschine aus der Automatisierungstechnik und Steuereinrichtung
DE102010001829B4 (de) 2010-02-11 2011-09-01 Siemens Aktiengesellschaft Verfahren zur Bewegung eines Maschinenelements einer Maschine aus der Automatisierungstechnik und Antriebssystem
JP5019001B2 (ja) * 2010-04-21 2012-09-05 三菱電機株式会社 数値制御方法及びその装置
DE102010016862B3 (de) * 2010-05-10 2011-09-22 Precitec Optronik Gmbh Materialbearbeitungsvorrichtung mit in-situ Messen des Bearbeitungsabstands
WO2011154379A1 (en) 2010-06-07 2011-12-15 Rofin-Baasel Lasertech Gmbh & Co. Kg Laser cutting system
JP5014471B2 (ja) * 2010-06-30 2012-08-29 ファナック株式会社 多軸加工機用数値制御装置
JP4938119B2 (ja) * 2010-08-20 2012-05-23 ファナック株式会社 工具先端点位置を制御する多軸加工機用数値制御装置
US8532825B1 (en) * 2010-08-25 2013-09-10 The Boeing Company Software compensation for kinematically singular machines
US8392002B2 (en) 2010-10-14 2013-03-05 Delta Tau Data Systems, Inc. Hybrid machine control incorporating fast-tool servos
JP5842467B2 (ja) * 2010-11-16 2016-01-13 株式会社リコー アクチュエータ装置、このアクチュエータ装置用の保護カバー、このアクチュエータの製造方法、このアクチュエータ装置を用いた光偏向装置、二次元光走査装置及びこれを用いた画像投影装置
TW201304898A (zh) * 2011-07-25 2013-02-01 Chuan-Zhou Cao 多軸工具機
JP5221724B2 (ja) * 2011-09-07 2013-06-26 ファナック株式会社 ワーク設置誤差補正部を有する多軸工作機械用数値制御装置
JP5255108B2 (ja) * 2011-11-04 2013-08-07 ファナック株式会社 指令経路速度条件による速度制御を行う数値制御装置
US8921734B2 (en) 2011-11-10 2014-12-30 Mitsubishi Electric Research Laboratories, Inc. Laser cutting machine
DE102011119211A1 (de) 2011-11-23 2013-05-23 Andreas Ehlerding Bewegungseinrichtung mit kombiniert rotorischer und translatorischer Bewegung einer redundant wirksamen Zusatzachseneinheit als Teil einer Werkzeugmaschine
JP5886979B2 (ja) * 2011-11-29 2016-03-16 エーエスエムエル ネザーランズ ビー．ブイ． リソグラフィ装置用の所望のデバイスパターンのベクタ形式表現を変換する装置および方法、プログラマブルパターニングデバイスにデータを供給する装置および方法、リソグラフィ装置、デバイス製造方法
US9261872B2 (en) 2012-01-19 2016-02-16 Mitsubishi Electric Research Laboratories, Inc. System and method for controlling redundant actuators of a machine
US9678499B2 (en) 2012-06-27 2017-06-13 Mitsubishi Electric Research Laboratories, Inc. Method for controlling redundantly actuated machines for cutting a pattern of disconnected contours
US9104192B2 (en) 2012-06-27 2015-08-11 Mitsubishi Electric Research Laboratories, Inc. System and method for controlling machines according to pattern of contours
DE102012212278B4 (de) 2012-07-13 2016-12-15 Arges Gmbh Anordnung zum Erzeugen von Bohrungen oder Schweißnähten
KR101398855B1 (ko) * 2012-07-19 2014-05-30 한국기계연구원 다축 가공 가변 머시닝 장치
US9170580B2 (en) * 2012-10-19 2015-10-27 Mitsubishi Electric Rsearch Laboratories, Inc. Determining trajectories of redundant actuators jointly tracking reference trajectory
DE102012111771B4 (de) 2012-12-04 2020-12-03 Ewag Ag Verfahren zur Bearbeitung eines Werkstücks unter Verwendung einer Laserbearbeitungsvorrichtung zur Herstellung eines Schneidwerkzeugs
US9724782B2 (en) * 2013-03-15 2017-08-08 Electro Scientific Industries, Inc. Laser systems and methods for AOD tool settling for AOD travel reduction
JP6453303B2 (ja) * 2013-03-15 2019-01-16 エレクトロ サイエンティフィック インダストリーズ インコーポレーテッド レーザビーム位置決めシステムのためのフェーズドアレイステアリング
TWI492008B (zh) * 2013-11-01 2015-07-11 Ind Tech Res Inst 工作機械控制系統及其方法
US10307863B2 (en) 2013-12-06 2019-06-04 Mitsubishi Electric Research Laboratories, Inc. Control of redundant laser processing machines
US9696709B2 (en) 2014-02-21 2017-07-04 Mitsubishi Electric Research Laboratories, Inc. Method and system for computing reference signals for machines with redundant positioning
JP6184363B2 (ja) * 2014-03-31 2017-08-23 オークマ株式会社 工作機械の制御方法及び制御装置
JP5905521B2 (ja) * 2014-06-26 2016-04-20 ファナック株式会社 工具先端点制御中に生じるバックラッシを抑制することを特徴とする数値制御装置
CN203993141U (zh) * 2014-07-24 2014-12-10 滁州欧博特电子制造有限公司 一种数控机床导轨
JP6847865B2 (ja) * 2015-06-22 2021-03-24 エレクトロ サイエンティフィック インダストリーズ インコーポレーテッド 多軸工作機械及びこれを制御する方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
CN110039329B (zh) 2022-02-15
CN110039329A (zh) 2019-07-23
KR20180011105A (ko) 2018-01-31
JP2018529529A (ja) 2018-10-11
JP2024012277A (ja) 2024-01-30
EP3183093A1 (en) 2017-06-28
CN106794564A (zh) 2017-05-31
US10654141B2 (en) 2020-05-19
TWI745122B (zh) 2021-11-01
SG10201804397UA (en) 2018-06-28
TW201708993A (zh) 2017-03-01
SG11201701698VA (en) 2017-04-27
WO2016209818A1 (en) 2016-12-29
US11185957B2 (en) 2021-11-30
JP6847865B2 (ja) 2021-03-24
US20200246929A1 (en) 2020-08-06
TWI709834B (zh) 2020-11-11
CN106794564B (zh) 2019-02-19
KR102540188B1 (ko) 2023-06-07
EP3183093A4 (en) 2018-11-07
US9981357B2 (en) 2018-05-29
US20180243872A1 (en) 2018-08-30
TW202109220A (zh) 2021-03-01
JP2021112818A (ja) 2021-08-05
US20160368110A1 (en) 2016-12-22

Similar Documents

Publication Publication Date Title
US11185957B2 (en) Multi-axis machine tool and methods of controlling the same
US20220410315A1 (en) Multi-axis machine tool, methods of controlling the same and related arrangements
JP5122833B2 (ja) レーザ加工方法及びレーザ加工装置
US8820203B2 (en) Method of controlling a robot for small shape generation
US8548628B2 (en) System and method for aligning and for controlling the position of a robot tool
JP2010214393A (ja) レーザー溶接装置
DE102018218033B4 (de) Laserbearbeitungssystem
WO2022189499A1 (en) Device and method for laser cutting a workpiece and producing workpiece parts
Radovanovic LASER CUTTING MACHINES FOR 3-D THIN SHEET PARTS.
JP2019166578A (ja) ロボットの動作プログラムの設定装置、ロボット、およびロボットの制御方法
Lin et al. An effective-wire-radius compensation scheme for enhancing the precision of wire-cut electrical discharge machines
JP7066242B2 (ja) 刃先加工装置
JP6640822B2 (ja) 数値制御装置
JP2022069523A (ja) 切削装置
Zabransky et al. Productive machining of complex shape parts
WO2005091093A1 (ja) 数値制御方法及びその装置

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20170325

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

RIN1 Information on inventor provided before grant (corrected)

Inventor name: EATON, KURT, M.

Inventor name: ALPAY, MEHMET

Inventor name: KLEINERT, JAN

Inventor name: TYLER, MIKE

Inventor name: LIN, ZHIBIN

Inventor name: BROOKHYSER, JIM

Inventor name: XU, QIAN

Inventor name: LO, HO, WAI

Inventor name: LU, GUANG

RIN1 Information on inventor provided before grant (corrected)

Inventor name: KLEINERT, JAN

Inventor name: BROOKHYSER, JIM

Inventor name: LO, HO, WAI

Inventor name: EATON, KURT, M.

Inventor name: LU, GUANG

Inventor name: TYLER, MIKE

Inventor name: ALPAY, MEHMET

Inventor name: LIN, ZHIBIN

Inventor name: XU, QIAN

RIN1 Information on inventor provided before grant (corrected)

Inventor name: KLEINERT, JAN

Inventor name: LO, HO, WAI

Inventor name: EATON, KURT, M.

Inventor name: ALPAY, MEHMET

Inventor name: LIN, ZHIBIN

Inventor name: LU, GUANG

Inventor name: BROOKHYSER, JIM

Inventor name: TYLER, MIKE

Inventor name: XU, QIAN

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20181010

RIC1 Information provided on ipc code assigned before grant

Ipc: G05B 19/19 20060101ALI20181004BHEP

Ipc: B23Q 1/44 20060101ALI20181004BHEP

Ipc: B23Q 5/54 20060101ALI20181004BHEP

Ipc: B23Q 15/00 20060101ALI20181004BHEP

Ipc: B23Q 1/25 20060101AFI20181004BHEP

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20190801

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20200210

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1298044

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200815

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602016041538

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: TR-IP CONSULTING LLC, CH

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20200805

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1298044

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200805

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201207

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201106

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201105

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201105

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201205

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602016041538

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

26N No opposition filed

Effective date: 20210507

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20210630

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210621

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210621

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210630

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20220628

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20220627

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20220629

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 20220706

Year of fee payment: 7

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20160621

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 602016041538

Country of ref document: DE

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20230621

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200805

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20240103

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230621

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230630